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The Kinematic Modeling and Optimal Paramerization of an Omni-Directional Pipeline Robot
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| DC Field | Value | Language |
|---|---|---|
| dc.contributor.author | Kwon, Young-Sik | - |
| dc.contributor.author | Yi, Byung-Ju | - |
| dc.date.accessioned | 2021-06-23T15:39:04Z | - |
| dc.date.available | 2021-06-23T15:39:04Z | - |
| dc.date.created | 2021-02-18 | - |
| dc.date.issued | 2009-05 | - |
| dc.identifier.issn | 1050-4729 | - |
| dc.identifier.uri | https://scholarworks.bwise.kr/erica/handle/2021.sw.erica/41234 | - |
| dc.description.abstract | There is no prior work on exact kinematic modeling for a pipeline robot having three powered chains. This work presents the closed-form kinematic model of the pipeline inspection robot driven by three caterpillar wheel chains. Next, optimal kinematic parameters are analyzed by using isotropic index and force transmission ration. Lastly, the feasibility of the kinematic model is verified through motion simulation for a virtual pipeline equipped with elbows and T-branches. | - |
| dc.language | 영어 | - |
| dc.language.iso | en | - |
| dc.publisher | IEEE | - |
| dc.title | The Kinematic Modeling and Optimal Paramerization of an Omni-Directional Pipeline Robot | - |
| dc.type | Article | - |
| dc.contributor.affiliatedAuthor | Yi, Byung-Ju | - |
| dc.identifier.doi | 10.1109/ROBOT.2009.5152779 | - |
| dc.identifier.scopusid | 2-s2.0-78649242518 | - |
| dc.identifier.wosid | 000276080401295 | - |
| dc.identifier.bibliographicCitation | IEEE Int. Conf. on Robotics and Automation, pp.1389 - 1394 | - |
| dc.relation.isPartOf | IEEE Int. Conf. on Robotics and Automation | - |
| dc.citation.title | IEEE Int. Conf. on Robotics and Automation | - |
| dc.citation.startPage | 1389 | - |
| dc.citation.endPage | 1394 | - |
| dc.type.rims | ART | - |
| dc.description.journalClass | 1 | - |
| dc.description.isOpenAccess | N | - |
| dc.description.journalRegisteredClass | scie | - |
| dc.description.journalRegisteredClass | scopus | - |
| dc.relation.journalResearchArea | Automation & Control Systems | - |
| dc.relation.journalResearchArea | Robotics | - |
| dc.relation.journalWebOfScienceCategory | Automation & Control Systems | - |
| dc.relation.journalWebOfScienceCategory | Robotics | - |
| dc.subject.keywordAuthor | Kinematics | - |
| dc.subject.keywordAuthor | Pipelines | - |
| dc.subject.keywordAuthor | Robots | - |
| dc.identifier.url | https://ieeexplore.ieee.org/document/5152779 | - |
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Related Researcher
- Yi, Byung Ju
- ERICA 공학대학 (SCHOOL OF ELECTRICAL ENGINEERING)